Robust Loop-Closure Detection with a Learned Illumination Invariant Representation for Robot vSLAM.
Shilang ChenJunjun WuYanran WangLin ZhouQinghua LuYunzhi ZhangPublished in: ICARM (2019)
Keyphrases
- invariant representation
- invariant representations
- loop closure
- simultaneous localization and mapping
- mobile robot
- outdoor environments
- object detection
- detection method
- robot navigation
- mobile robotics
- multi robot
- map building
- humanoid robot
- geometric structure
- data association
- path planning
- error accumulation
- single image
- dynamic environments